CN108177310A - Rotary machine hand - Google Patents
Rotary machine hand Download PDFInfo
- Publication number
- CN108177310A CN108177310A CN201810161808.6A CN201810161808A CN108177310A CN 108177310 A CN108177310 A CN 108177310A CN 201810161808 A CN201810161808 A CN 201810161808A CN 108177310 A CN108177310 A CN 108177310A
- Authority
- CN
- China
- Prior art keywords
- rack
- rotary
- raw material
- rotary machine
- machine hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rotary machine hands, including three shaft mechanical arms, three shaft mechanical arms are set there are two counter-rotation driving device, rotating driving device includes linear drive apparatus, special shape gear and rack rotary components, the rotary components of two counter-rotation driving devices are respectively equipped with raw material grabbing assembly and workpiece grabbing component, linear drive apparatus is fixedly connected on three shaft mechanical arms, rack is driven by the linear drive apparatus, rotary components are articulated with three shaft mechanical arms, rotary components are equipped with the special shape gear engaged with rack, the rotary components drive raw material grabbing assembly and workpiece grabbing component to turn to the opposite sides of three shaft mechanical arms respectively when rack moves.The rotary machine hand is simple in structure, flexible movements, the raw materials such as inlaid piece of mould, IMD fabrics can be achieved to be mounted on mold, product after injection molding crawl is placed in conveyor and at the same time realizing, it is high to fully achieve injection production automatic clamping and placing part, working efficiency.
Description
Technical field
The present invention relates to a kind of manipulators, more particularly to a kind of rotary machine hand, belong to process unit technical field.
Background technology
Existing partial automobile trim components are manufactured using IMD technology, and IMD decoration technique inside molds use decorative surface material
Expect back side injection molding.Due to the limitation of traditional three axle robert motion mode, can not realize in split mold side patch
Decorative surface material, such as non-woven fabrics are put, while the workpiece completed to opposite side injection carries out pickup.Using multi-spindle machining people
It completes the process and then greatly improves production cost, working efficiency is also below three axle robert.
Invention content
In view of the above-mentioned defects in the prior art, the present invention provides a kind of rotary machine hands, realize respectively to split
Raw material and workpiece are picked and placeed in mold.
Technical solution of the present invention is as follows：A kind of rotary machine hand, including three shaft mechanical arms, the three shaft mechanicals arm is equipped with
Two counter-rotation driving devices, the rotating driving device includes linear drive apparatus, special shape gear and rack assembly, described
The rotary components of two counter-rotation driving devices are respectively equipped with raw material grabbing assembly and workpiece grabbing component, the linear drives
Device is fixedly connected on the three shaft mechanicals arm, and the rack is driven by the linear drive apparatus, and the rotary components are hinged
In the three shaft mechanicals arm, the rotary components are equipped with the special shape gear engaged with rack, the rotation when rack moves
Component drives the raw material grabbing assembly and workpiece grabbing component to turn to the opposite sides of the three shaft mechanicals arm respectively.
The present invention, by increasing counter-rotation driving device, is driven on the basis of original three shaft mechanicals arm by linear drive apparatus
Carry-over bar moves, and then the rotary components engaged with rack is driven to be rotated, and drives raw material grabbing assembly and workpiece grabbing group
Part is converted between horizontal position and vertical position.Since two rotating driving device rotation directions are reversed, crawl group is expected
Part and workpiece grabbing component can be located at the opposite sides of three shaft mechanical arms when being in vertical position, with the mold cavity institute after die sinking
It is corresponding, it can easily realize that raw material crawl is placed into mold cavity and from mold cores using the movement of three shaft mechanical arms
The workpiece that interior crawl production is completed.
Further, the linear drive apparatus is cylinder, and the cylinder is fixed on the end of three shaft mechanical arms, the tooth
Item is fixedly connected with Telescopic-cylinder bar.
Further, for the ease of controlling the turned position of rotary components, the rotary components include connecting plate and abnormity
Gear, the special shape gear are equipped with the tooth that engage with rack, and the special shape gear is hinged with three shaft mechanical arms, the connecting plate and
Special shape gear is fixedly connected, and the bottom end of the cylinder and side wall are equipped with limited post, and the limited post is used to limit turning for connecting plate
Dynamic angle.
Since in automotive upholstery production process, decorative surface material is often flexible material, and in flexible material
Non-woven fabrics one kind is often selected to have perforated Ventilate cloth, therefore used vacuum adsorption type grabbing assembly in the prior art
Since Ventilate cloth does not have closed effect, sucker can not be made to establish environment under low pressure, also material can not just be captured.Therefore into
One step, in order to adapt to the crawl of the ventilative material raw material such as non-woven fabrics, the raw material grabbing assembly includes frame and several needles pierce
Component, the acupuncture group part are fixedly connected with frame, and the frame is fixedly connected with rotary components, the top surface of the acupuncture group part
Raw material gripping surface is formed, the acupuncture group part includes the pricker to stretch with the raw material gripping surface in 5~80 ° of angle directions.
Further, the acupuncture group part includes tiltedly pumping cylinder, and the oblique pumping cylinder includes cylinder body, and the cylinder body both sides are set
There is the sliding block driven by cylinder body being arranged symmetrically, the pricker is fixedly connected with the sliding block.
Further, the cylinder body, which is equipped with, tilts guide hole, and the pricker, which is set to, to be tilted in guide hole.
Preferably, each sliding block is connected with two root thorn needles.
Further, elastic parts is equipped between the acupuncture group part and frame.
Further, in order to effectively be built into flexible material to mold, the frame is equipped with several elastic top block assemblies,
The elastic top block assembly includes casing, mandril, jacking block and spring, and described sleeve pipe is fixedly connected with frame, the tail of the mandril
End is arranged in casing, and the head end of the mandril is fixedly connected with jacking block, and the spring is set on mandril and is connected to jacking block
Between casing.Elastic top block assembly is put into flexible material in mold process, provides flexible material certain support, so as to
Flexible material is pierced through in pricker in mold.
The advantages of technical solution provided by the present invention, is：Pass through rotating driving device reality on the basis of three shaft mechanical arms
Horizontal plane is showed and has walked around with perpendicular inward turning and changed, raw material and work are picked and placeed in conveyer belt and split mold to be adapted to
Part, compared to using Multi-shaft mechanical arm efficiency of movement higher.The flexible ventilatings such as non-woven fabrics can be completely adapted to using acupuncture group part
The crawl of raw material, compared to the production that vacuum suction is more suitable for automotive upholstery.The rotary machine hand is simple in structure, is easy to grasp
Control.
Description of the drawings
Fig. 1 is rotary machine hand structure diagram.
Fig. 2 is rotating driving device structure diagram.
Fig. 3 is acupuncture group part structure diagram.
Fig. 4 is elastic top block assembly structure diagram.
Specific embodiment
With reference to embodiment, the invention will be further described, but not as a limitation of the invention.
Incorporated by reference to shown in Fig. 1 and Fig. 2, the rotary machine hand involved by the present embodiment is the improvement to three shaft mechanical arms,
It includes three shaft mechanical arms 1, and the opposite two special shape gears rotation driving dress of rotation direction is equipped in the end of three shaft mechanical arms 1
Put 2.The rotary components 3 of previous rotating driving device 2 turn to XZ planes, the latter from X/Y plane in a clockwise direction i.e. in figure
The rotary components 3 of rotating driving device 2 turn to XZ planes from X/Y plane in a counterclockwise direction.As shown in Fig. 2, rotating driving device
2 include linear drive apparatus, rack 4 and rotary components 3, and linear drive apparatus uses straight line cylinder 5, and straight line cylinder 5 is fixed on
The end of three shaft mechanical arms 1, rack 4 are fixedly connected with 5 telescopic rod of straight line cylinder, and rack 4 is under the effect of straight line cylinder 5 along Z axis
It moves in direction.Rotary components 3 include connecting plate 6 and special shape gear 7, and special shape gear 7 is equipped with the tooth engaged with rack 4, heteromorphic teeth
7 and three shaft mechanical arm 1 of wheel is hinged the rotation to realize special shape gear 7.The cylinder body of the present embodiment special shape gear 7 and straight line cylinder 5
Hinged, effect is the same.Connecting plate 6 is fixedly connected with special shape gear 7, is put down in the X/Y plane bottom end of straight line cylinder 5 and XZ
Surface side wall is equipped with limited post 8.5 drive rack 4 of straight line cylinder along Z-direction move when, special shape gear 7 around articulated shaft rotate, band
Dynamic connecting plate 6 rotates, and limited post 8 is then no more than 90 ° of rotations for limiting connecting plate 6 in X/Y plane and XZ interplanars.It should refer to
Go out, the effect of limited post 8 is to control the motion range of connecting plate 6, and determining for specific motion range should be according to actual use
Depending on situation, 90 ° of limitations that the present embodiment is stated are should not be restricted by.
The rotary components 3 of two rotating driving devices 2 are respectively equipped with raw material grabbing assembly 9 and workpiece grabbing component 10, i.e.,
Connecting plate 6 is connected with raw material grabbing assembly 9 and workpiece grabbing component 10.When the connecting plate 6 of two rotating driving devices 2 is put down by XY
When face turns to XZ planes, then raw material grabbing assembly 9 and workpiece grabbing component 10 is driven to turn to opposite the two of three shaft mechanical arms 1
Side, it is opposite with the dies cavity after die sinking.Wherein clamping class mechanism commonly used in the prior art can be used in workpiece grabbing component 10
It realizes, details are not described herein.As shown in Figures 1 and 3, including frame 11 and several acupuncture group parts 12, needle pierces raw material grabbing assembly 9
Component 12 is fixedly connected with frame 1 by elastic parts 13, and frame 11 is fixedly connected with the connecting plate 6 of rotary components 3.Acupuncture group
Part 12 includes tiltedly pumping cylinder 14 and is in the pricker 16 that 5~80 ° of angle directions are stretched with raw material gripping surface, is tiltedly evacuated cylinder 14 and includes
Cylinder body, cylinder body both sides are equipped with the sliding block 15 driven by cylinder body being arranged symmetrically, and pricker 16 is fixedly connected with sliding block 15.Tiltedly pumping cylinder
14 top surface 17 is that the top surface of acupuncture group part 12 forms raw material gripping surface.Cylinder body, which is equipped with, tilts guide hole 18, and each sliding block 15 connects
There are two root thorn needles 16, pricker 16, which is set to, to be tilted in guide hole 18.
In order to effectively be built into flexible material to mold, raw material grabbing assembly 10 is also provided with being fixedly connected with frame 11
Several elastic top block assemblies 19, elastic top block assembly 19 include casing 20, mandril 21, jacking block 22 and spring 23, casing 20 with
Frame 11 is fixedly connected, and the tail end of mandril 21 is arranged in casing 20, and the head end of mandril 21 is fixedly connected with jacking block 22, spring 23
It is set on mandril 21 and is connected between jacking block 22 and casing 20.Elastic top block assembly 19 is put into mold process in flexible material
In, certain support is provided flexible material, in order to which pricker pierces through flexible material in mold.
The course of work of the rotary machine hand is such, and raw material and injection complete the conveyer belt of workpiece in X/Y plane
Operation, raw material grabbing assembly 9 are driven by rotating driving device 2, and the composition raw material gripping surface of top surface 17 for being tiltedly evacuated cylinder 14 is put down in XY
During the direction of face, the movement of three shaft mechanical arms 1 makes raw material grabbing assembly 9 reach non-woven fabrics feed location.Z-direction moves three shaft mechanicals
Arm 1 makes the top surface 17 for being tiltedly evacuated cylinder 14 be contacted with non-woven fabrics raw material, is tiltedly evacuated cylinder 14 and acts, it is complete that pricker 16 is pierced into non-woven fabrics raw material
Into crawl.The movement of three shaft mechanical arms 1 makes non-woven fabrics raw material be directed at dies cavity, passes through pricker in elastic top block assembly 19 and mold
Cooperation non-woven fabrics raw material is made to be placed in dies cavity, be tiltedly evacuated the pricker 16 that raw material grabbing assembly 9 is withdrawn in the action of cylinder 14.Three axis machines
Tool arm 1 moves the workpiece that workpiece grabbing component 10 is made to be directed at injection molding in mold, and workpiece is carried out by workpiece grabbing component 10
Crawl.Three shaft mechanical arms 1 move again, the postprocessing working procedures of injection-molded work, such as runner cutting can be completed, after the completion by rotating
Driving device 2 acts, and workpiece grabbing component 10 is made to turn to X/Y plane by XZ planes, workpiece grabbing component 10 discharges workpiece, by it
It is placed in conveyer belt.
Claims (9)
1. a kind of rotary machine hand, including three shaft mechanical arms, which is characterized in that the three shaft mechanicals arm is set to be revolved there are two opposite
Rotary driving device, the rotating driving device include linear drive apparatus, special shape gear and rack assembly, described two opposite rotations
The rotary components of rotary driving device are respectively equipped with raw material grabbing assembly and workpiece grabbing component, and the linear drive apparatus, which is fixed, to be connected
The three shaft mechanicals arm is connected to, the rack is driven by the linear drive apparatus, and the rotary components are articulated with three axis
Mechanical arm, the rotary components are equipped with the special shape gear that engage with rack, rotary components band respectively when the rack moves
It moves the raw material grabbing assembly and workpiece grabbing component turns to the opposite sides of the three shaft mechanicals arm.
2. rotary machine hand according to claim 1, which is characterized in that the linear drive apparatus is cylinder, described
Cylinder is fixed on the end of three shaft mechanical arms, and the rack is fixedly connected with Telescopic-cylinder bar.
3. rotary machine hand according to claim 2, which is characterized in that the rotary components include connecting plate and abnormity
Gear, the special shape gear are equipped with the tooth that engage with rack, and the special shape gear is hinged with three shaft mechanical arms, the connecting plate and
Special shape gear is fixedly connected, and the bottom end of the cylinder and side wall are equipped with limited post, and the limited post is used to limit turning for connecting plate
Dynamic angle.
4. rotary machine hand according to claim 1, which is characterized in that if the raw material grabbing assembly include frame and
Dry acupuncture group part, the acupuncture group part are fixedly connected with frame, and the frame is fixedly connected with rotary components, the acupuncture group part
Top surface form raw material gripping surface, it is in the thorn that stretches of 5~80 ° of angle directions that the acupuncture group part, which is included with the raw material gripping surface,
Needle.
5. rotary machine hand according to claim 4, which is characterized in that the acupuncture group part includes tiltedly pumping cylinder, institute
State tiltedly pumping cylinder and include cylinder body, the cylinder body both sides are equipped with the sliding block driven by cylinder body that is arranged symmetrically, the pricker with it is described
Sliding block is fixedly connected.
6. rotary machine hand according to claim 5, which is characterized in that the cylinder body, which is equipped with, tilts guide hole, the thorn
Needle, which is set to, to be tilted in guide hole.
7. rotary machine hand according to claim 5, which is characterized in that each sliding block is connected with two root thorn needles.
8. rotary machine hand according to claim 5, which is characterized in that elasticity is equipped between the acupuncture group part and frame
Component.
9. rotary machine hand according to claim 4, which is characterized in that the frame is equipped with several elastic jacking block groups
Part, the elastic top block assembly include casing, mandril, jacking block and spring, and described sleeve pipe is fixedly connected with frame, the mandril
Tail end is arranged in casing, and the head end of the mandril is fixedly connected with jacking block, and the spring is set on mandril and is connected to top
Between block and casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810161808.6A CN108177310A (en) | 2018-02-26 | 2018-02-26 | Rotary machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810161808.6A CN108177310A (en) | 2018-02-26 | 2018-02-26 | Rotary machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108177310A true CN108177310A (en) | 2018-06-19 |
Family
ID=62553089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810161808.6A Pending CN108177310A (en) | 2018-02-26 | 2018-02-26 | Rotary machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108177310A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858938A (en) * | 2018-08-08 | 2018-11-23 | 昆山斯比得自动化设备有限公司 | Instrument board slush moulding part automatic member withdrawing device |
| KR20210073926A (en) * | 2019-12-11 | 2021-06-21 | 주식회사 프라코 | Insert Injection Mold For Manufacturing Injection Product Having Air Bag Door And Manufacturing System Of Injection Product |
| CN113459128A (en) * | 2021-08-06 | 2021-10-01 | 无锡贝斯特精机股份有限公司 | Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152964A (en) * | 2010-12-13 | 2011-08-17 | 亿和精密工业（苏州）有限公司 | Manipulator transportation line |
| CN205097450U (en) * | 2015-05-28 | 2016-03-23 | 昆山斯比得自动化设备有限公司 | Instrument board automatic production device |
| CN206185587U (en) * | 2016-08-29 | 2017-05-24 | 浙江精典数控设备有限公司 | Work piece handling device and automatic processing system |
| CN206406403U (en) * | 2017-01-16 | 2017-08-15 | 湖北铭达塑胶制品有限公司 | A kind of rotatable injection machine of sucker |
| CN107139169A (en) * | 2017-06-01 | 2017-09-08 | 广东天机工业智能系统有限公司 | Rotary grasping device |
| CN107521053A (en) * | 2017-09-04 | 2017-12-29 | 江门市华日摩托车配件有限公司 | A kind of multi-functional reclaimer robot for casing injection moulding machine |
| CN208148418U (en) * | 2018-02-26 | 2018-11-27 | 常熟市汽车饰件股份有限公司 | Rotary machine hand |
-
2018
- 2018-02-26 CN CN201810161808.6A patent/CN108177310A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152964A (en) * | 2010-12-13 | 2011-08-17 | 亿和精密工业（苏州）有限公司 | Manipulator transportation line |
| CN205097450U (en) * | 2015-05-28 | 2016-03-23 | 昆山斯比得自动化设备有限公司 | Instrument board automatic production device |
| CN206185587U (en) * | 2016-08-29 | 2017-05-24 | 浙江精典数控设备有限公司 | Work piece handling device and automatic processing system |
| CN206406403U (en) * | 2017-01-16 | 2017-08-15 | 湖北铭达塑胶制品有限公司 | A kind of rotatable injection machine of sucker |
| CN107139169A (en) * | 2017-06-01 | 2017-09-08 | 广东天机工业智能系统有限公司 | Rotary grasping device |
| CN107521053A (en) * | 2017-09-04 | 2017-12-29 | 江门市华日摩托车配件有限公司 | A kind of multi-functional reclaimer robot for casing injection moulding machine |
| CN208148418U (en) * | 2018-02-26 | 2018-11-27 | 常熟市汽车饰件股份有限公司 | Rotary machine hand |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858938A (en) * | 2018-08-08 | 2018-11-23 | 昆山斯比得自动化设备有限公司 | Instrument board slush moulding part automatic member withdrawing device |
| KR20210073926A (en) * | 2019-12-11 | 2021-06-21 | 주식회사 프라코 | Insert Injection Mold For Manufacturing Injection Product Having Air Bag Door And Manufacturing System Of Injection Product |
| KR102437280B1 (en) * | 2019-12-11 | 2022-08-29 | 주식회사 프라코 | Insert Injection Mold For Manufacturing Injection Product Having Air Bag Door And Manufacturing System Of Injection Product |
| CN113459128A (en) * | 2021-08-06 | 2021-10-01 | 无锡贝斯特精机股份有限公司 | Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof |
| CN113459128B (en) * | 2021-08-06 | 2023-01-06 | 无锡贝斯特精机股份有限公司 | Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof |
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